Authors: [tex2html_wrap4286]B. Boulet, H. Vaezi, V. Hayward
Investigator username: hayward
Subcategory: manipulators and actuators
A robot joint prototype with two hydraulic actuators, one being redundant, is considered. Robust controllers are derived for the position control of this joint, as well as a method for selecting the distributiuon of actuation effort in terms of the solution of minimum norm problems with particular physical interpretations. A robust state feedback controller derived from the Internal Model Principle as well as a robust controller based on the [tex2html_wrap4284]-optimal sensitivity minimization method are proposed and both are compared to a conventional siso pd controller. Practical controllers for use in robotics applications are studied in terms of modulation of mechanical impedance, as well as a non-linear controller designed to take advantage of certain nonlinear characteristics of the presently studied hydraulic actuators.